CN105764025B - More net locating query method and systems - Google Patents
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- CN105764025B CN105764025B CN201410784477.3A CN201410784477A CN105764025B CN 105764025 B CN105764025 B CN 105764025B CN 201410784477 A CN201410784477 A CN 201410784477A CN 105764025 B CN105764025 B CN 105764025B
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Abstract
The present invention discloses a kind of more net locating query method and systems.This method comprises: receiving the request for location services that user terminal is sent, wherein the request for location services of user terminal includes the environmental parameter that user terminal reports, and basic network can provide the positioning result of multiple positioning modes generation；The adaptation value of current all positioning methods is obtained according to the environmental parameter that user terminal reports；The highest positioning method of adaptation value is selected, sends terminal positioning request to basic network；Judge whether to receive positioning result in the given time；If receiving positioning result in the given time, positioning result is sent to user terminal.The present invention can provide positioning service for multiple terminal, and the response time for shortening terminal location inquiry improves the positioning accuracy of terminal by more net alignment by union.
Description
Technical field
The present invention relates to location-based service field, in particular to a kind of more net locating query method and systems.
Background technique
Current wireless network is made of multiple network form, and diversification is also presented in the form of terminal.It is increasingly wider
General terminal wants to obtain the positioning service of network.Traditional positioning service system can only often provide a kind of positioning side
Formula is difficult to meet the location requirement of terminal under complex environment.Meanwhile diversified basic network also provided for terminal positioning it is more
Resource is planted, the location technology under Ubiquitous Network feature, is no longer the terminal positioning of single network, but the joint of multiple network is fixed
Position.
The prior art when wireless environment parameter obtains insufficient, is unable to estimate each in the case where end coordinates are unknown
Positioning method position error.The position requests from multiple terminal form can not be being received, and can be in a variety of facilities networks
The characteristics of reasonably inquiring the position of terminal in network, assessing wireless environment locating for terminal, to select suitable positioning method.
Summary of the invention
In view of the above technical problem, it can be a variety of ends that the present invention provides a kind of more net locating query method and systems
End provides positioning service, and the response time for shortening terminal location inquiry improves the positioning of terminal by more net alignment by union
Precision.
According to an aspect of the present invention, a kind of more net locating query methods are provided, comprising:
Receive the request for location services that user terminal is sent, wherein the request for location services of user terminal includes user's end
The environmental parameter reported is held, basic network can provide the positioning result of multiple positioning modes generation；
The adaptation value of current all positioning methods is obtained according to the environmental parameter that user terminal reports；
The highest positioning method of adaptation value is selected, sends terminal positioning request to basic network；
Judge whether to receive positioning result in the given time；
If receiving positioning result in the given time, positioning result is sent to user terminal.
In one embodiment of the invention, the method also includes:
If not receiving positioning result in the given time, select to fit in the positioning method having not been used in basic network
With highest mode is worth, executes to basic network and send the step of terminal positioning is requested.
In one embodiment of the invention, current all positioning sides are obtained in the environmental parameter reported according to user terminal
After the step of adaptation value of formula, the method also includes:
The highest m kind positioning method of adaptation value in all positioning methods is selected, while sending terminal positioning to basic network
Request, wherein m is the natural number greater than 1；
If receiving the location data of n kind positioning method return simultaneously, the location data returned according to n kind positioning method
It determines positioning result, executes the step of positioning result is sent to user terminal later, wherein 1 < n≤m and n are natural number.
In one embodiment of the invention, the step of positioning result is determined according to the location data that n kind positioning method returns
Suddenly include:
It selects in n kind positioning method, the location data that the highest positioning method of adaptation value returns is as positioning result.
In one embodiment of the invention, the step of positioning result is determined according to the location data that n kind positioning method returns
Suddenly include:
As positioning result after the location data that n kind positioning method returns is weighted and averaged.
In one embodiment of the invention, the method also includes:
If receiving only a kind of location data that positioning method returns, tied the location data received as positioning
Fruit executes the step of positioning result is sent to user terminal later.
In one embodiment of the invention, environmental parameter includes reference point ID, and wherein reference point is to sit in basic network
Known to mark, for the datum mark of terminal positioning；
The environmental parameter that is reported according to user terminal obtains the step of adaptation value of current all positioning methods and includes:
The reference point ID reported according to user terminal inquires the known coordinate of reference point in the database；
According to the actual distance of the known coordinate of reference point acquisition user terminal to the reference point；
The range measurement error of the actual distance under each way is obtained according to the environmental parameter that user terminal reports；
The position error of corresponding positioning method is obtained according to the range measurement error of the positioning method；
The adaptation value of corresponding positioning method is obtained according to the position error of the positioning method.
According to another aspect of the present invention, a kind of more net locating query systems, including request reception unit, adaptation value are provided
Acquiring unit, the first request transmitting unit, recognition unit and positioning result transmission unit, in which:
Request reception unit, for receiving the request for location services of user terminal transmission, wherein the positioning of user terminal takes
Business request includes the environmental parameter that user terminal reports, and basic network can provide the positioning result of multiple positioning modes generation；
Adaptation value acquiring unit, the environmental parameter for being reported according to user terminal obtain the suitable of current all positioning methods
With value；
First request transmitting unit sends terminal positioning to basic network for selecting the highest positioning method of adaptation value
Request；
Recognition unit receives positioning result for judging whether in the given time；
Positioning result transmission unit receives positioning knot for the judging result according to recognition unit in the given time
When fruit, positioning result is sent to user terminal.
In one embodiment of the invention, the first request transmitting unit is also used in the judgement knot according to recognition unit
Fruit when not receiving positioning result in the given time, selects in basic network in the positioning method that has not been used adaptation value most
High mode executes to basic network and sends the operation that terminal positioning is requested.
In one embodiment of the invention, the system also includes the second request transmitting units and the first result to obtain list
Member, in which:
Second request transmitting unit, the environmental parameter acquisition for being reported in adaptation value acquiring unit according to user terminal are worked as
After the adaptation value of preceding all positioning methods, the highest m kind positioning method of adaptation value in all positioning methods is selected, while to base
Plinth network sends terminal positioning request, and wherein m is the natural number greater than 1；
First result acquiring unit, when for receiving the location data of n kind positioning method return at the same time, according to n kind
The location data that positioning method returns determines positioning result, indicates that positioning result is sent to use by positioning result transmission unit later
Family terminal, wherein 1 < n≤m and n are natural number.
In one embodiment of the invention, the first result acquiring unit is in the positioning number returned according to n kind positioning method
When according to determining positioning result, it is specifically used in selection n kind positioning method, the location data that the highest positioning method of adaptation value returns
As positioning result.
In one embodiment of the invention, the first result acquiring unit is in the positioning number returned according to n kind positioning method
When according to determining positioning result, as positioning knot after being weighted and averaged specifically for the location data for returning to n kind positioning method
Fruit.
In one embodiment of the invention, the system also includes the second result acquiring units, in which:
Second result acquiring unit, for will receive when receiving only a kind of location data that positioning method returns
Location data as positioning result, indicate that positioning result is sent to user terminal by positioning result transmission unit later.
In one embodiment of the invention, environmental parameter includes reference point ID, and wherein reference point is to sit in basic network
Known to mark, for the datum mark of terminal positioning；
Adaptation value acquiring unit includes coordinate obtaining module, distance obtains module, range error obtains module, position error
It obtains module and adaptation value obtains module, in which:
Coordinate obtaining module, the reference point ID for being reported according to user terminal are inquired in the database known to reference point
Coordinate；
Distance obtains module, for obtaining user terminal to the true of the reference point according to the known coordinate of the reference point
Actual distance from；
Range error obtains module, and the environmental parameter for being reported according to user terminal obtains described true under each way
The range measurement error of distance；
Position error obtains module, for obtaining corresponding positioning method according to the range measurement error of the positioning method
Position error；
Adaptation value obtains module, is adaptation for obtain corresponding positioning method according to the position error of the positioning method
Value.
The present invention can provide positioning service for multiple terminal, and can be carried out using a variety of basic networks high-precision fixed
Position.The present invention solves the prior art in the case where end coordinates are unknown, and when wireless environment parameter obtains insufficient, estimation is each
The problem of a positioning method position error, the suitability of relatively reasonable assessment positioning method are the reasonable selection of positioning method
Foundation is provided.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of the more net locating query method one embodiment of the present invention.
Fig. 2 is the application scenario diagram of the more net locating query systems of the present invention.
Fig. 3 is the schematic diagram that positioning method adaptation value is obtained in one embodiment.
Fig. 4 is the schematic diagram of the more another embodiments of net locating query method of the present invention.
Fig. 5 is the schematic diagram of the more another embodiments of net locating query method of the present invention.
Fig. 6 is the schematic diagram of the more net locating query system one embodiment of the present invention.
Fig. 7 is the schematic diagram that adaptation value obtains module in one embodiment of the invention.
Fig. 8 is the schematic diagram of the more another embodiments of net locating query system of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the schematic diagram of the more net locating query method one embodiment of the present invention.Preferably, the present embodiment can be by this hair
Bright more net locating query systems execute.Method includes the following steps:
Step 101, the request for location services that user terminal is sent is received, wherein the request for location services packet of user terminal
The environmental parameter that user terminal reports is included, basic network can provide the positioning result of multiple positioning modes generation.
In one embodiment of the invention, as shown in Fig. 2, the more net locating query methods of the present invention can pass through ubiquitous terminal
Interface receives the request for location services of a variety of user terminals.As long as user terminal can access network in either manner, such as
Cellular communications networks, WLAN (WLAN), sensor network (WSN) etc., so that it may to the more net locating query sides of the present invention
Method initiates request for location services, and system can also be wide by the access net of terminal to the fused terminal positioning result of location data
It broadcasts to user.A variety of user terminal forms include Beidou terminal, mobile phone, WiFi equipment, sensor etc..
In one embodiment of the invention, which, can be to terminal by Ubiquitous Network interface
A variety of basic networks of surrounding initiate Location Request.It is connect using including big-dipper satellite, terrestrial reference station, communication network base station, WLAN
Access point (AP), WSN node are in the measurement of interior multiple network reference point and the position of computing terminal.System obtains each basic network
By calculating after feedback result, final positioning result is broadcast to terminal user.
In one embodiment of the invention, the positioning method includes that satellite positioning, communication network base station are mixed with satellite
Positioning, satellite add the enhancing positioning of terrestrial reference station, communication network base station positioning, wireless sense network to position, in WiFi fingerprint location
At least one.
In one embodiment of the invention, the quantity of positioning method is greater than the quantity of basic network.Such as: communication network base
Two kinds of basic networks of network and satellite positioning network of standing can provide communication network base station positioning, satellite positioning, communication network base station with
The positioning result of three kinds of positioning methods of satellite mixed positioning.
Step 102, the adaptation value of current all positioning methods is obtained according to the environmental parameter that user terminal reports.
Step 103, the highest positioning method of adaptation value is selected, sends terminal positioning request to basic network.
Step 104, judge whether to receive positioning result in the given time.
Step 105, if receiving positioning result in the given time, positioning result is sent to user terminal.
In one embodiment of the invention, system initiates the access network of request for location services according to user terminal, adopts
With same network to terminal broadcast positioning result data.
In one embodiment of the invention, after step 104, the method can also include:
If not receiving positioning result in the given time, select to fit in the positioning method having not been used in basic network
With highest mode is worth, executes to basic network and send the step of terminal positioning is requested.
Based on more net locating query methods that the above embodiment of the present invention provides, according to the sequence of adaptation value from high to low,
Positioning method inquires terminal location to basic network one by one, so as to provide positioning service for multiple terminal, and can utilize
A variety of basic networks carry out high accuracy positioning.The present invention solves the prior art in the case where end coordinates are unknown, wireless ring
When border parameter obtains insufficient, estimate that the problem of each positioning method position error, relatively reasonable assessment positioning method are fitted
With property, foundation is provided for the reasonable selection of positioning method.
In one embodiment of the invention, environmental parameter includes reference point ID, and wherein reference point is to sit in basic network
Known to mark, for the datum mark of terminal positioning.As shown in figure 3, step 102 shown in Fig. 1 can specifically include:
Step 301, the reference point ID reported according to user terminal inquires the known coordinate of reference point in the database.
In one embodiment of the invention, step 301 may include the references such as inquiry satellite, base station, sensor node
The accurate coordinate record of point, wherein defining (xi,yi,zi) be i-th of reference point coordinate, i=1,2,3 ..., N.
Step 302, according to the actual distance of the known coordinate of reference point acquisition user terminal to the reference point.
In one embodiment of the invention, step 302 may include:
Firstly, the geometric center for selecting N number of reference mode is " imaginary terminal " position (x, y, z).This is because terminal
Actual position or even "ball-park" estimate position are all unavailable.Herein can only reasonable assumption terminal in reference point interposition
The estimation for carrying out error of coordinate is set, approximation replaces the estimation error of other positions terminal.The foundation of this hypothesis is most of
In the case of, reference point is all to be located at the surrounding of terminal, such as the reference base station that mobile phone can search is located at its master base station mostly
Adjacent base station, positioned at terminal surrounding surround.
In addition, it is assumed that terminal is located at earth surface, z=0.So " imaginary terminal " true coordinate is set as
Then, the actual distance that " imaginary terminal " arrives each reference point is obtained
Step 303, the environmental parameter and position reported according to user terminal solves described true under equation acquisition each way
Actual distance from range measurement error.That is, measuring the range measurement error of each actual distanceI.e. distance is missed
Poor ei∈[0,eim], wherein eimFor error the larger value of i-th of distance.
The acquisition in specific embodiment respectively for the range measurement error of every kind of positioning method is specifically introduced below:
1, the simple satellite positioning mode such as Beidou, GPS
Environmental parameter includes: the related id information and visible satellite of visible satellite quantity N and every visible satellite
Measurements of arrival time errorI=1,2,3 ... N.
By taking the positioning of simple big-dipper satellite as an example: Beidou receiver is led to by obtaining the pseudorange between satellite after resolving
Cross the range equation computing terminal coordinate for solving following formula.
In formula (1), (x, y, z) is the coordinate of terminal, (xSVi,ySVi,zSVi) be visible satellite coordinate.(tr-
tt-SV1) C be known as " pseudorange " do not account for terminal at a distance from satellite clock difference τ, C is the light velocity.trIt is that terminal receives signal note
The terminal time of record, tt-SV1It is the time of satellite atomic clocks transmitting signal, this is since the factors such as ionosphere have error.Its
Middle clock deviation τ will be determined by solving equation.
For simple big-dipper satellite positioning method, it is assumed that the error delta of clock deviation τ and reaching time-difference after receiver resolving
tiSubstantially quite, then the range error e in satellite distance equationi∈[0,2CΔti]。
2, communication network base station and satellite mixed positioning
Environmental parameter includes: the sighting distance base station number N of communication network base station positioning method, the measurements of arrival time of adjacent base station
ErrorI=1,2,3 ... N, the range measurement error of signal strength (RSS) methodI=1,2,3 ... N, terminal and main clothes
The time synchronization error σ of business base stationτ；And the related id information of visible satellite quantity N and every visible satellite and visible
The measurements of arrival time error of satelliteI=1,2,3 ... N.
By taking communication network base station and big-dipper satellite mixed positioning as an example, when number of satellite is greater than 4, big-dipper satellite be can determine
Terminal location.By the auxiliary of communication network base station, the rough position of terminal can be obtained, is conducive to accelerate to search star process, position
Precision does not have essential improvement, but can reduce primary positioning time, improves receiving sensitivity.
When visible satellite number is less than 4, the mixed positioning of communication network base station is needed just to can determine that terminal location.Terminal
The master base station serviced can be measured by RTD (round-trip delay, Round Trip Delay), so that terminal is same with system time
Step, and then determine the clock deviation τ of terminal and system time.In addition base station can use arrival time TOA (time of arrival)
The measurement of (or signal strength) obtains the distance that terminal reaches base station.Pass through following range equation computing terminal coordinate
According to formula (2), Δ τ, the error delta t of satellite reaching time-difference are set as by the error of base station measurement clock deviation τi、
Base station reaches time error Δ tBSi, it is available: the range error e of satellite distance equationi∈[0,(Δti+ Δ τ) C], base station
The range error e of range equationi∈[0,ΔtBSiC]。
3, satellite adds the enhancing positioning of terrestrial reference station
Environmental parameter includes: the error of the control information for the satellite measurements of arrival time that terrestrial reference station provides
By taking big-dipper satellite plus the enhancing positioning of terrestrial reference station as an example: for the positioning accuracy for improving big-dipper satellite, can use
The ground such as RTD, RTK (Real-time kinematic, dynamic controls in real time) enhance technology.Basic principle terrestrial reference station
Coordinate be it is known, the reaching time-difference of base station measurement satellite is compared with theoretical value, to the arrival of the measurement satellite of terminal
Since the error that ionosphere delay generates is corrected when the time difference, wherein Δ tSViFor the control information of i-th of base station, Δ
tSVFor the pseudo-range corrections information from multiple base station control informations Jing Guo average treatment.After base station corrects, formula (3)
Range equation in time of measuring tr,tt-SViIt may be considered accurately, error is primarily present in the correction error of base station,
The positioning accuracy of this positioning method is very high.
According to formula (3), it is also assumed that the error of clock deviation and reaching time-difference after receiver resolving is substantially suitable, due to
The correction at terrestrial reference station sends and receives moment tr,tt-SV1Error can ignore, only consider Δ tSVError.So may be used
Obtain the range error e of satellite distance equationi∈[0,2CΔtSV]。
4, communication network base station positions
Environmental parameter includes: the sighting distance base station number N of communication network base station positioning method, the measurements of arrival time of adjacent base station
ErrorI=1,2,3 ... N, the range measurement error of signal strength (RSS) methodI=1,2,3 ... N, terminal and main clothes
The time synchronization error σ of business base stationτ。
Terminal can also by communication network base station measure arrival time (TOA) or received signal strength, carry out triangle
The equation of positioning is as follows
Wherein, diIt for the distance of base station to terminal, can be obtained according to (4): the range error e measured by TOAi∈[0,
CΔtBSi], the range error e measured by RSSi∈[0,Δdi]。
5, wireless sense network positions
Environmental parameter includes: that the visible reference mode number N of wireless sensor positioning method and measurements of arrival time miss
DifferenceI=1,2,3 ... N, the range measurement error of signal strength method (RSS)I=1,2,3 ... N.
Wireless sensor and actor networks can also be (being similar to base station) as a reference point by the sensor node of known coordinate, leads to
The mode for crossing TOA/RSS is positioned, and basic principle is identical as communication network base station positioning method, and the distance of its measurement is missed as a result,
Difference is also identical as communication network base station positioning method.
6, WiFi fingerprint location
Environmental parameter includes: the fingerprint database situation of WiFi fingerprint location mode, including being averaged for reference mode grid
Separation delta r.
WiFi fingerprint location in WLAN is by certain overlay area AP, by grid division, every
One reference point of selection carries out the measurement of an AP signal strength in a grid, record reference point coordinate and signal strength to
Amount, and using this as fingerprint base.When positioning, the position of terminal can have both been determined by the fingerprint of reflexless terminal.
Due to the coordinate of AP be usually it is unknown, the error of fingerprint location generally directly adopt grid reference point it is average between
Away from the error of coordinate that Δ r is last as terminal.
Step 304, the position error of corresponding positioning method is obtained according to the range measurement error of the positioning method.
In one embodiment of the invention, step 304 may include:
In summary the range equation of each positioning method can be unified for following form
The least square solution of " imaginary terminal " coordinate is calculated below according to range equation (5)It is fixed according to triangle
Position principle, the range error e of i-th of reference pointiProject to the error of coordinate of x-axis directionIt can similarly count
Calculate the error of coordinate Δ y that range error projects to y-axis, z-axis directioni,Δzi。
Therefore, " imaginary terminal " meets in the least square solution of x-axis directionSoError of the least-squares estimation in x-axis direction
Wherein ei∈[0,eim]。
It similarly can be with computing terminal in y, the error range in z-axis direction
To sum up, the positioning error of coordinate of terminal
Step 305, the adaptation value of corresponding positioning method is obtained according to the position error of the positioning method.
In one embodiment of the invention, adaptation value S=1/ Δ r.Position error Δ r is bigger, then the positioning method exists
More unsuitable use, suitability are poorer in wireless environment locating for terminal.
Fig. 4 is the schematic diagram of the more another embodiments of net locating query method of the present invention.The described method includes:
Step 401, the request for location services that user terminal is sent is received.
Step 402, the adaptation value of current all positioning methods is obtained according to the environmental parameter that user terminal reports.
Step 403, the highest positioning method of adaptation value is selected.
Step 404, terminal positioning request is sent to basic network.
Step 405, judge whether to receive positioning result in the given time.If receiving positioning knot in the given time
Fruit thens follow the steps 406；Otherwise, if not receiving positioning result in the given time, 407 are thened follow the steps.
Step 406, positioning result is sent to user terminal.
Step 407, the highest mode of adaptation value in the positioning method having not been used in basic network is selected；Step is executed later
Rapid 404.
In one embodiment of the invention, if the positioning method of high adaptation value positions failure, suboptimum is selected to be adapted to
The positioning method of value is inquired, until successfully positioning.If all positioning methods all without restoring to normal position as a result, if position mistake
It loses.
The above embodiment of the present invention, system estimate the optional positioning method of terminal position error after, according to adaptation value from
High to Low sequence, positioning method inquires terminal location to basic network one by one.
Fig. 5 is the schematic diagram of the more another embodiments of net locating query method of the present invention.The described method includes:
Step 501, the request for location services that user terminal is sent is received.
Step 502, the adaptation value of current all positioning methods is obtained according to the environmental parameter that user terminal reports.
Step 503, the highest m kind positioning method of adaptation value in all positioning methods is selected, while being sent to basic network
Terminal positioning request, wherein m is the natural number greater than 1；Step 504 or step 505 are executed later.
Step 504, it if receiving the location data of n kind positioning method return simultaneously, is returned according to n kind positioning method
Location data determines positioning result, executes step 506 later, wherein 1 < n≤m and n are natural number.
In one embodiment of the invention, in step 504, it is fixed to be determined according to the location data that n kind positioning method returns
The step of position result may include: the location data conduct that the highest positioning method of adaptation value returns in selection n kind positioning method
Positioning result.
In one embodiment of the invention, in step 504, it is fixed to be determined according to the location data that n kind positioning method returns
The step of position result may include: after being weighted and averaged the location data that n kind positioning method returns as positioning result.
In one embodiment of the invention, the location data that n kind positioning method returns is weighted and averaged as fixed
The step of position result, specifically includes:
If the position enquiring mode of Systematic selection concurrent request, basic network returns to the positioning knot of multiple network to system
Fruit Xt, t=1,2 ... n.When multiple positioning results are weighted and averaged, in addition to the adaptation value of consideration positioning method, also to examine
Consider the accuracy of adaptation value estimation.Position error caused by adaptation value estimation mistake in order to avoid certain positioning method is very big
As a result it is endowed heavier weight, so that the resultant error after average is excessive.Namely to inhibit to deviate average positioning result
Those " isolated positioning results ".
If the positioning result X that n kind positioning method returnst, calculate the distance d of any two positioning resultIj=||Xi-Xj|
|.So the degree of the deviation average of positioning result can be defined asThat is t-th of result apart from it is all its
His result apart from mean value.
The estimation adaptation value for defining t-th of positioning result is St.Can the weighted average of much net positioning results be
Step 505, if receiving only the location data that a kind of positioning method returns, using the location data received as
Positioning result executes step 506 later.
Step 506, positioning result is sent to user terminal.
In one embodiment of the invention, if returned without positioning result, other positioning methods are selected, guarantee base
This location requirement.
Embodiment shown in Fig. 4 is using query mode step by step, after the position error for estimating the optional positioning method of terminal, according to
The sequence of adaptation value from high to low, positioning method inquires terminal location to basic network one by one.And embodiment shown in fig. 5 uses
Concurrent request mode, after the adaptation value of the positioning method of estimation, the preferable positioning method of a variety of suitabilities of simultaneous selection, together
When to basic network issue Location Request.
Both position enquiring modes have respective advantage, and system will be reasonably selected according to the characteristics of demand of terminal.If
Localizing environment locating for user terminal is ideal, needs to position robustness with higher and not high to requirement of real-time, then
Select query mode step by step；If localizing environment locating for user terminal is undesirable, and requires faster positioning time, then
Select concurrent request mode.
The above embodiment of the present invention allows position service system to be a variety of by designing more net position enquiring systems
Terminal provides positioning service, and can carry out high accuracy positioning using a variety of basic networks.The present invention solves the prior art and exists
In the case that end coordinates are unknown, when wireless environment parameter obtains insufficient, the problem of each positioning method position error is estimated,
The suitability of relatively reasonable assessment positioning method provides foundation for the reasonable selection of positioning method.In addition, the present invention is selecting
When position enquiring mode, inquiry mode and concurrent request mode step by step can be selected according to the characteristics of demand of terminal.It can be to more
The result of kind positioning method carries out Data Fusion, substantially increases the precision and robustness of terminal positioning under complex environment.
Fig. 6 is the schematic diagram of the more net locating query system one embodiment of the present invention.As shown in fig. 6, more net positioning
Inquiry system includes request reception unit 601, adaptation value acquiring unit 602, the first request transmitting unit 603, recognition unit 604
With positioning result transmission unit 605, in which:
Request reception unit 601, for receiving the request for location services of user terminal transmission, wherein user terminal is determined
Position service request includes the environmental parameter that user terminal reports, and basic network can provide the positioning knot of multiple positioning modes generation
Fruit.
Adaptation value acquiring unit 602, the environmental parameter for being reported according to user terminal obtain current all positioning methods
Adaptation value.
It is fixed to send terminal to basic network for selecting the highest positioning method of adaptation value for first request transmitting unit 603
Position request.
Recognition unit 604 receives positioning result for judging whether in the given time.
Positioning result transmission unit 605 receives in the given time for the judging result according to recognition unit 604
When positioning result, positioning result is sent to user terminal.
In one embodiment of the invention, the first request transmitting unit 603 is also used in sentencing according to recognition unit 604
Break as a result, selecting to be adapted in the positioning method having not been used in basic network when not receiving positioning result in the given time
It is worth highest mode, executes to basic network and send the operation that terminal positioning is requested.
Based on more net locating query systems that the above embodiment of the present invention provides, according to the sequence of adaptation value from high to low,
Positioning method inquires terminal location to basic network one by one, so as to provide positioning service for multiple terminal, and can utilize
A variety of basic networks carry out high accuracy positioning.The present invention solves the prior art in the case where end coordinates are unknown, wireless ring
When border parameter obtains insufficient, estimate that the problem of each positioning method position error, relatively reasonable assessment positioning method are fitted
With property, foundation is provided for the reasonable selection of positioning method.
In one embodiment of the invention, as shown in Fig. 2, request reception unit 601 can be connect by ubiquitous terminal interface
By the request for location services of a variety of user terminals.As long as user terminal can access network in either manner, as honeycomb is logical
Communication network, WLAN (WLAN), sensor network (WSN) etc., so that it may be initiated to the more net locating query methods of the present invention
Request for location services, system can also be broadcast to use by the access net of terminal to the fused terminal positioning result of location data
Family.A variety of user terminal forms include Beidou terminal, mobile phone, WiFi equipment, sensor etc..
In one embodiment of the invention, as shown in Fig. 2, the first request transmitting unit 603 passes through Ubiquitous Network interface,
Location Request can be initiated to a variety of basic networks of terminal surrounding.Using including big-dipper satellite, terrestrial reference station, communication network base
It stands, WLAN access point (AP), WSN node are in the measurement of interior multiple network reference point and the position of computing terminal.System obtains each
By calculating after the feedback result of basic network, final positioning result is broadcast to terminal user.
In one embodiment of the invention, positioning result transmission unit 605 is asked according to user terminal initiation positioning service
The access network asked, using same network to terminal broadcast positioning result data.
In one embodiment of the invention, environmental parameter includes reference point ID, and wherein reference point is to sit in basic network
Known to mark, for the datum mark of terminal positioning.
Fig. 7 is the schematic diagram that adaptation value obtains module in one embodiment of the invention.As shown in fig. 7, the adaptation value in Fig. 6
Acquiring unit 602 may include coordinate obtaining module 701, distance obtains module 702, range error obtains module 703, positioning misses
Difference obtains module 704 and adaptation value obtains module 705, in which:
Coordinate obtaining module 701, the reference point ID for being reported according to user terminal inquire reference point in the database
Known coordinate.
In one embodiment of the invention, coordinate obtaining module 701 is specifically used for inquiry satellite, base station, sensor section
The accurate coordinate record of the reference points such as point, wherein define (xi,yi,zi) be i-th of reference point coordinate, i=1,2,3 ..., N.
Distance obtains module 702, for obtaining user terminal to the reference point according to the known coordinate of the reference point
Actual distance
Range error obtains module 703, and the environmental parameter for being reported according to user terminal obtains described under each way
The range measurement error of actual distanceThat is range error ei∈[0,eim], wherein eimFor i-th distance
Error the larger value.
Position error obtains module 704, for obtaining corresponding positioning side according to the range measurement error of the positioning method
The position error of formula.
In one embodiment of the invention, position error obtains module 704 specifically using least-squares estimation in x-axis side
To error wherein ei∈[0,eim]；It similarly can be with computing terminal in y, z-axis direction
Error range so that it is determined that terminal positioning error of coordinate
Adaptation value obtains module 705, is for obtain corresponding positioning method according to the position error of the positioning method
Adaptation value.
In one embodiment of the invention, adaptation value obtains module 705 and obtains adaptation value S according to formula S=1/ Δ r.
Position error Δ r is bigger, then more unsuitable use in wireless environment of the positioning method locating for terminal, suitability are poorer.
Fig. 8 is the schematic diagram of the more another embodiments of net locating query system of the present invention.Compared with embodiment illustrated in fig. 6,
In embodiment illustrated in fig. 8, the system also includes the second request transmitting units 801 and the first result acquiring unit 802, in which:
Second request transmitting unit 801, the environmental parameter for being reported in adaptation value acquiring unit 602 according to user terminal
After the adaptation value for obtaining current all positioning methods, the highest m kind positioning method of adaptation value in all positioning methods is selected, together
When to basic network send terminal positioning request, wherein m is natural number greater than 1.
First result acquiring unit 802, when for receiving the location data of n kind positioning method return at the same time, according to n
The location data that kind positioning method returns determines positioning result, indicates that positioning result transmission unit 605 sends out positioning result later
User terminal is given, wherein 1 < n≤m and n are natural number.
In one embodiment of the invention, the first result acquiring unit 802 is in the positioning returned according to n kind positioning method
When data determine positioning result, it is specifically used in selection n kind positioning method, the positioning number that the highest positioning method of adaptation value returns
According to as positioning result.
In one embodiment of the invention, the first result acquiring unit 802 is in the positioning returned according to n kind positioning method
When data determine positioning result, as positioning after being weighted and averaged specifically for the location data for returning to n kind positioning method
As a result.
In one embodiment of the invention, as shown in figure 8, the system also includes the second result acquiring unit 803,
In:
Second result acquiring unit 803, for will receive when receiving only a kind of location data that positioning method returns
The location data arrived indicates that positioning result is sent to user terminal by positioning result transmission unit 605 as positioning result later.
It can both be used by the first request transmitting unit 603, recognition unit 604 in the above embodiment of the present invention and be ask step by step
Ask mode, after the position error for estimating the optional positioning method of terminal, according to the sequence of adaptation value from high to low, positioning method one by one
Terminal location is inquired to basic network.The second request transmitting unit 801, the first result acquiring unit 802 can also be passed through simultaneously
Concurrent request mode is used with the second result acquiring unit 803, after the adaptation value of the positioning method of estimation, simultaneous selection is more
The kind preferable positioning method of suitability, while Location Request is issued to basic network.
Both position enquiring modes have respective advantage, and system will be reasonably selected according to the characteristics of demand of terminal.If
Localizing environment locating for user terminal is ideal, needs to position robustness with higher and not high to requirement of real-time, then
Select query mode step by step；If localizing environment locating for user terminal is undesirable, and requires faster positioning time, then
Select concurrent request mode.
The above embodiment of the present invention allows position service system to be a variety of by designing more net position enquiring systems
Terminal provides positioning service, and can carry out high accuracy positioning using a variety of basic networks.The present invention solves the prior art and exists
In the case that end coordinates are unknown, when wireless environment parameter obtains insufficient, the problem of each positioning method position error is estimated,
The suitability of relatively reasonable assessment positioning method provides foundation for the reasonable selection of positioning method.In addition, the present invention is selecting
When position enquiring mode, inquiry mode and concurrent request mode step by step can be selected according to the characteristics of demand of terminal.It can be to more
The result of kind positioning method carries out Data Fusion, substantially increases the precision and robustness of terminal positioning under complex environment.
Request reception unit 601 described above, adaptation value acquiring unit 602, the first request transmitting unit 603,
Recognition unit 604, positioning result transmission unit 605, the second request transmitting unit 801, the first result acquiring unit 802, second
As a result the functional units such as acquiring unit 803 can be implemented as general processor for executing function described herein, can compile
Journey logic controller (PLC), digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array
(FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components or it is any
It is appropriately combined.
It is illustrated below by the method for specific example pair:
In an exemplary embodiments of the invention, a mobile phone with WiFi and Beidou chip, to of the present invention
More net locating query systems initiate request for location services.The embodiment the following steps are included:
Step 1, the mode link position service system of user terminal selecting WLAN (WLAN), by built in mobile phone
WiFi module, request for location services is sent to system, and provide wireless environment parameter to system, wherein the wireless ring
Border parameter includes:
The related id information of the visible satellite quantity N of big-dipper satellite positioning method and every visible satellite, it is seen that satellite
Measurements of arrival time error delta ti, i=1,2,3 ... N；
The sighting distance base station number N of communication network base station positioning method, the measurements of arrival time error delta t of adjacent base stationBSi, i=
1,2,3,…N.The time synchronization error Δ τ of terminal and main serving BS；
The fingerprint database situation of WiFi fingerprint location mode, the average headway Δ r including reference mode grid.
Step 2, the wireless parameter that more net locating query systems receive the request of terminal and report from wlan network.
Step 3, the adaptation value of system-computed terminal these types positioning method
Step 3.1, the ID of reference point is reported to inquire the known coordinate of reference point, including Beidou in the database according to terminal
Satellite, base station accurate coordinate record.Note defines (xi,yi,zi) be i-th of reference point coordinate, i=1,2,3 ..., N.
Step 3.2, " imaginary terminal " true coordinate is obtained to be set as
Step 3.3, the actual distance that " imaginary terminal " arrives each reference point is obtained
Step 3.4, various positioning method range measurement error es are obtainedimEstimation:
A, simple big-dipper satellite positioning: the range error e in satellite distance equationi∈[0,2CΔti]；
B, communication network base station and satellite mixed positioning: the range error e of satellite distance equationi∈[0,(Δti+ Δ τ) C],
The range error e of base station distance equationi∈[0,ΔtBSiC]；
C, communication network base station positions: the range error e of base stationi∈[0,CΔtBSi]；
D, WiFi fingerprint location: the average headway Δ r of grid reference point.
Step 3.5, the positioning result estimation error of various positioning methods: mistake of the least-squares estimation in x-axis direction is obtained
Poor wherein ei∈[0,eim].It similarly can be with computing terminal in y, the error in z-axis direction
The positioning error of coordinate of range terminal
Step 3.6, the adaptation value S=1/ Δ r of the positioning method is obtained.
Step 4, since user terminal requires system orientation response time shorter, concurrent request mode is selected.Therefore system
Simple big-dipper satellite positioning, communication network base station and satellite mixed positioning, communication network base station positioning three are initiated to basic network simultaneously
The request of kind positioning method.
Step 5, basic network returns to the positioning result X of three kinds of networks to systemt, t=1, after 2,3. are weighted and averaged
Positioning result isWhereindIj=||Xi-Xj||。
Step 6, system passes through wlan network to terminal broadcast positioning result data.
So far, the present invention is described in detail.In order to avoid covering design of the invention, it is public that this field institute is not described
The some details known.Those skilled in the art as described above, completely it can be appreciated how implementing technology disclosed herein
Scheme.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (12)
1. a kind of more net locating query methods characterized by comprising
Receive the request for location services that user terminal is sent, wherein the request for location services of user terminal includes on user terminal
The environmental parameter of report, basic network can provide the positioning result of multiple positioning modes generation；
The adaptation value of current all positioning methods is obtained according to the environmental parameter that user terminal reports；
The highest positioning method of adaptation value is selected, sends terminal positioning request to basic network；
Judge whether to receive positioning result in the given time；
If receiving positioning result in the given time, positioning result is sent to user terminal；
Wherein, environmental parameter includes reference point ID, wherein reference point be in basic network coordinate it is known, for the base of terminal positioning
On schedule；
The environmental parameter that is reported according to user terminal obtains the step of adaptation value of current all positioning methods and includes:
The reference point ID reported according to user terminal inquires the known coordinate of reference point in the database；
According to the actual distance of the known coordinate of reference point acquisition user terminal to the reference point；
The range measurement error of the actual distance under each way is obtained according to the environmental parameter that user terminal reports；
The position error of corresponding positioning method is obtained according to the range measurement error of the positioning method；
The adaptation value of corresponding positioning method is obtained according to the position error of the positioning method.
2. the method according to claim 1, wherein further include:
If not receiving positioning result in the given time, adaptation value in the positioning method having not been used in basic network is selected
Highest mode executes to basic network and sends the step of terminal positioning is requested.
3. the method according to claim 1, wherein being obtained in the environmental parameter reported according to user terminal current
After the step of adaptation value of all positioning methods, further includes:
The highest m kind positioning method of adaptation value in all positioning methods is selected, while sending terminal positioning request to basic network,
Wherein m is the natural number greater than 1；
If receiving the location data of n kind positioning method return simultaneously, determined according to the location data that n kind positioning method returns
Positioning result executes the step of positioning result is sent to user terminal later, wherein 1 < n≤m and n are natural number.
4. according to the method described in claim 3, determining it is characterized in that, being determined according to the location data that n kind positioning method returns
Position result the step of include:
It selects in n kind positioning method, the location data that the highest positioning method of adaptation value returns is as positioning result.
5. according to the method described in claim 3, determining it is characterized in that, being determined according to the location data that n kind positioning method returns
Position result the step of include:
As positioning result after the location data that n kind positioning method returns is weighted and averaged.
6. according to the method described in claim 3, it is characterized by further comprising:
If receiving only the location data that a kind of positioning method returns, using the location data received as positioning result, it
After execute the step of positioning result is sent to user terminal.
7. a kind of more net locating query systems, which is characterized in that asked including request reception unit, adaptation value acquiring unit, first
Ask transmission unit, recognition unit and positioning result transmission unit, in which:
Request reception unit, for receiving the request for location services of user terminal transmission, wherein the positioning service of user terminal is asked
The environmental parameter reported including user terminal is sought, basic network can provide the positioning result of multiple positioning modes generation；
Adaptation value acquiring unit, the environmental parameter for being reported according to user terminal obtain the adaptation of current all positioning methods
Value；
First request transmitting unit sends terminal positioning request to basic network for selecting the highest positioning method of adaptation value；
Recognition unit receives positioning result for judging whether in the given time；
Positioning result transmission unit, for the judging result according to recognition unit, when receiving positioning result in the given time,
Positioning result is sent to user terminal；
Wherein, environmental parameter includes reference point ID, wherein reference point be in basic network coordinate it is known, for the base of terminal positioning
On schedule；
Adaptation value acquiring unit includes coordinate obtaining module, distance obtains module, range error obtains module, position error obtains
Module and adaptation value obtain module, in which:
Coordinate obtaining module, the reference point ID for being reported according to user terminal inquire the known seat of reference point in the database
Mark；
Distance obtain module, for according to the known coordinate of the reference point obtain user terminal to the reference point it is true away from
From；
Range error obtains module, and the environmental parameter for being reported according to user terminal obtains the actual distance under each way
Range measurement error；
Position error obtains module, and the positioning of corresponding positioning method is obtained for the range measurement error according to the positioning method
Error；
Adaptation value obtains module, is adaptation value for obtain corresponding positioning method according to the position error of the positioning method.
8. system according to claim 7, which is characterized in that
First request transmitting unit is also used in the judging result according to recognition unit, does not receive positioning knot in the given time
When fruit, the highest mode of adaptation value in the positioning method having not been used in basic network is selected, executes and is sent eventually to basic network
Hold the operation of Location Request.
9. system according to claim 7, which is characterized in that further include that the second request transmitting unit and the first result obtain
Unit, in which:
Second request transmitting unit, for obtaining current institute according to the environmental parameter that user terminal reports in adaptation value acquiring unit
After having the adaptation value of positioning method, the highest m kind positioning method of adaptation value in all positioning methods is selected, while to facilities network
Network sends terminal positioning request, and wherein m is the natural number greater than 1；
First result acquiring unit positions when for receiving the location data of n kind positioning method return at the same time according to n kind
The location data that mode returns determines positioning result, indicates that positioning result is sent to user's end by positioning result transmission unit later
End, wherein 1 < n≤m and n are natural number.
10. system according to claim 9, which is characterized in that
First result acquiring unit is specifically used for choosing when the location data returned according to n kind positioning method determines positioning result
It selects in n kind positioning method, the location data that the highest positioning method of adaptation value returns is as positioning result.
11. system according to claim 9, which is characterized in that
First result acquiring unit is specifically used for when the location data returned according to n kind positioning method determines positioning result by n
The location data that kind positioning method returns is used as positioning result after being weighted and averaged.
12. system according to claim 9, which is characterized in that further include the second result acquiring unit, in which:
Second result acquiring unit, for being determined what is received when receiving only a kind of location data that positioning method returns
Position data indicate that positioning result is sent to user terminal by positioning result transmission unit as positioning result later.
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| CN106375593B (en) * | 2016-09-29 | 2019-10-22 | 广东小天才科技有限公司 | A kind of determination method and apparatus of station-keeping mode |
| CN107908655B (en) * | 2017-10-12 | 2019-03-19 | 北京三快在线科技有限公司 | A kind of method and apparatus of positioning |
| CN111328013B (en) * | 2018-12-17 | 2021-11-23 | 中国移动通信集团山东有限公司 | Mobile terminal positioning method and system |
| CN112929434B (en) * | 2021-02-03 | 2022-11-04 | 中国联合网络通信集团有限公司 | Positioning method, positioning device, server and storage medium |
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